相机标定

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sudo apt install ros-humble-camera-calibration-parsers

sudo apt install ros-humble-camera-info-manager

sudo apt install ros-humble-launch-testing-ament-cmake

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git clone -b <ros2-distro> git@github.com:ros-perception/image_pipeline.git

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https://github.com/Aurora-UJS/rm_vision_ros2_galaxy_camera
cd rm_vision_ros2_galaxy_camera
colcon build --symlink-install
ros2 launch galaxy_camera galaxy_camera.launch.py

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ros2 topic list
ros2 topic hz /camera/image_raw

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ros2 run camera_calibration cameracalibrator --size 7x10 --square 0.015 image:=/image_raw camera:=/camera

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Camera Name:

-c, --camera_name
        name of the camera to appear in the calibration file


Chessboard Options:

You must specify one or more chessboards as pairs of --size and--square options.

  -p PATTERN, --pattern=PATTERN
                    calibration pattern to detect - 'chessboard','circles', 'acircles','charuco'
  -s SIZE, --size=SIZE
                    chessboard size as NxM, counting interior corners (e.g. a standard chessboard is 7x7)
  -q SQUARE, --square=SQUARE
                    chessboard square size in meters

# size与square两个参数是必须的

ROS Communication Options:

 --approximate=APPROXIMATE
                    allow specified slop (in seconds) when pairing images from unsynchronized stereo cameras
# 这个参数似乎是为多相机联合标定的参数
 --no-service-check
                    disable check for set_camera_info services at startup
# 后面这些参数不太需要
Calibration Optimizer Options:

 --fix-principal-point
                    fix the principal point at the image center
 --fix-aspect-ratio
                    enforce focal lengths (fx, fy) are equal
 --zero-tangent-dist
                    set tangential distortion coefficients (p1, p2) to
                    zero
 -k NUM_COEFFS, --k-coefficients=NUM_COEFFS
                    number of radial distortion coefficients to use (up to
                    6, default 2)
 --disable_calib_cb_fast_check
                    uses the CALIB_CB_FAST_CHECK flag for findChessboardCorners

    This will open a calibration window which highlight the checkerboard.